OpenRaiser/Intern-Atlas huggingface dataset:
O(1) Insertion for Random Walk d-ary Cuckoo Hashing up to the Load Threshold
Venue: arXiv cs.DS 2025
Year: 2025

The random walk $d$-ary cuckoo hashing algorithm was defined by Fotakis, Pagh, Sanders, and Spirakis to generalize and improve upon the standard cuckoo hashing algorithm of Pagh and Rodler. Random walk $d$-ary cuckoo hashing has low space overhead, guaranteed fast access, and fast in practice insertion time. In this paper, we give a theoretical insertion time bound for this algorithm. More precisely, for every $d\ge 3$ random hashes, let $c_d^*$ be the sharp threshold for the load factor at which a valid assignment of $cm$ objects to a hash table of size $m$ exists with high probability. We show that for any $d\ge 3$ hashes and load factor $c<c_d^*$, the expectation of the random walk insertion time is $O(1)$, that is, a constant depending only on $d$ and $c$ but not $m$.
Investigating the Quality of DermaMNIST and Fitzpatrick17k Dermatological Image Datasets
Venue: arXiv cs.CV 2025
Year: 2025

The remarkable progress of deep learning in dermatological tasks has brought us closer to achieving diagnostic accuracies comparable to those of human experts. However, while large datasets play a crucial role in the development of reliable deep neural network models, the quality of data therein and their correct usage are of paramount importance. Several factors can impact data quality, such as the presence of duplicates, data leakage across train-test partitions, mislabeled images, and the absence of a well-defined test partition. In this paper, we conduct meticulous analyses of three popular dermatological image datasets: DermaMNIST, its source HAM10000, and Fitzpatrick17k, uncovering these data quality issues, measure the effects of these problems on the benchmark results, and propose corrections to the datasets. Besides ensuring the reproducibility of our analysis, by making our analysis pipeline and the accompanying code publicly available, we aim to encourage similar explorations and to facilitate the identification and addressing of potential data quality issues in other large datasets.
GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control
Venue: arXiv cs.RO 2025
Year: 2025

Distributed, scalable, and safe control of large-scale multi-agent systems is a challenging problem. In this paper, we design a distributed framework for safe multi-agent control in large-scale environments with obstacles, where a large number of agents are required to maintain safety using only local information and reach their goal locations. We introduce a new class of certificates, termed graph control barrier function (GCBF), which are based on the well-established control barrier function theory for safety guarantees and utilize a graph structure for scalable and generalizable distributed control of MAS. We develop a novel theoretical framework to prove the safety of an arbitrary-sized MAS with a single GCBF. We propose a new training framework GCBF+ that uses graph neural networks to parameterize a candidate GCBF and a distributed control policy. The proposed framework is distributed and is capable of taking point clouds from LiDAR, instead of actual state information, for real-world robotic applications. We illustrate the efficacy of the proposed method through various hardware experiments on a swarm of drones with objectives ranging from exchanging positions to docking on a moving target without collision. Additionally, we perform extensive numerical experiments, where the number and density of agents, as well as the number of obstacles, increase. Empirical results show that in complex environments with agents with nonlinear dynamics (e.g., Crazyflie drones), GCBF+ outperforms the hand-crafted CBF-based method with the best performance by up to 20% for relatively small-scale MAS with up to 256 agents, and leading reinforcement learning (RL) methods by up to 40% for MAS with 1024 agents. Furthermore, the proposed method does not compromise on the performance, in terms of goal reaching, for achieving high safety rates, which is a common trade-off in RL-based methods.
A Survey on Future Frame Synthesis: Bridging Deterministic and Generative Approaches
Venue: arXiv cs.CV 2025
Year: 2025

Future Frame Synthesis (FFS), the task of generating subsequent video frames from context, represents a core challenge in machine intelligence and a cornerstone for developing predictive world models. This survey provides a comprehensive analysis of the FFS landscape, charting its critical evolution from deterministic algorithms focused on pixel-level accuracy to modern generative paradigms that prioritize semantic coherence and dynamic plausibility. We introduce a novel taxonomy organized by algorithmic stochasticity, which not only categorizes existing methods but also reveals the fundamental drivers--advances in architectures, datasets, and computational scale--behind this paradigm shift. Critically, our analysis identifies a bifurcation in the field's trajectory: one path toward efficient, real-time prediction, and another toward large-scale, generative world simulation. By pinpointing key challenges and proposing concrete research questions for both frontiers, this survey serves as an essential guide for researchers aiming to advance the frontiers of visual dynamic modeling.
Do LLMs Dream of Ontologies?
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) have demonstrated remarkable performance across diverse natural language processing tasks, yet their ability to memorize structured knowledge remains underexplored. In this paper, we investigate the extent to which general-purpose pre-trained LLMs retain and correctly reproduce concept identifier (ID)-label associations from publicly available ontologies. We conduct a systematic evaluation across multiple ontological resources, including the Gene Ontology, Uberon, Wikidata, and ICD-10, using LLMs such as Pythia-12B, Gemini-1.5-Flash, GPT-3.5, and GPT-4. Our findings reveal that only a small fraction of ontological concepts is accurately memorized, with GPT-4 demonstrating the highest performance. To understand why certain concepts are memorized more effectively than others, we analyze the relationship between memorization accuracy and concept popularity on the Web. Our results indicate a strong correlation between the frequency of a concept's occurrence online and the likelihood of accurately retrieving its ID from the label. This suggests that LLMs primarily acquire such knowledge through indirect textual exposure rather than directly from structured ontological resources. Furthermore, we introduce new metrics to quantify prediction invariance, demonstrating that the stability of model responses across variations in prompt language and temperature settings can serve as a proxy for estimating memorization robustness.
Set-Based Training for Neural Network Verification
Venue: arXiv cs.LG 2025
Year: 2025

Neural networks are vulnerable to adversarial attacks, i.e., small input perturbations can significantly affect the outputs of a neural network. Therefore, to ensure safety of neural networks in safety-critical environments, the robustness of a neural network must be formally verified against input perturbations, e.g., from noisy sensors. To improve the robustness of neural networks and thus simplify the formal verification, we present a novel set-based training procedure in which we compute the set of possible outputs given the set of possible inputs and compute for the first time a gradient set, i.e., each possible output has a different gradient. Therefore, we can directly reduce the size of the output enclosure by choosing gradients toward its center. Small output enclosures increase the robustness of a neural network and, at the same time, simplify its formal verification. The latter benefit is due to the fact that a larger size of propagated sets increases the conservatism of most verification methods. Our extensive evaluation demonstrates that set-based training produces robust neural networks with competitive performance, which can be verified using fast (polynomial-time) verification algorithms due to the reduced output set.
RABBIT: A Robot-Assisted Bed Bathing System with Multimodal Perception and Integrated Compliance
Venue: arXiv cs.RO 2025
Year: 2025

This paper introduces RABBIT, a novel robot-assisted bed bathing system designed to address the growing need for assistive technologies in personal hygiene tasks. It combines multimodal perception and dual (software and hardware) compliance to perform safe and comfortable physical human-robot interaction. Using RGB and thermal imaging to segment dry, soapy, and wet skin regions accurately, RABBIT can effectively execute washing, rinsing, and drying tasks in line with expert caregiving practices. Our system includes custom-designed motion primitives inspired by human caregiving techniques, and a novel compliant end-effector called Scrubby, optimized for gentle and effective interactions. We conducted a user study with 12 participants, including one participant with severe mobility limitations, demonstrating the system's effectiveness and perceived comfort. Supplementary material and videos can be found on our website https://emprise.cs.cornell.edu/rabbit.
SCANIA Component X Dataset: A Real-World Multivariate Time Series Dataset for Predictive Maintenance
Venue: arXiv cs.LG 2025
Year: 2025

Predicting failures and maintenance time in predictive maintenance is challenging due to the scarcity of comprehensive real-world datasets, and among those available, few are of time series format. This paper introduces a real-world, multivariate time series dataset collected exclusively from a single anonymized engine component (Component X) across a fleet of SCANIA trucks. The dataset includes operational data, repair records, and specifications related to Component X, while maintaining confidentiality through anonymization. It is well-suited for a range of machine learning applications, including classification, regression, survival analysis, and anomaly detection, particularly in predictive maintenance scenarios. The dataset's large population size, diverse features (in the form of histograms and numerical counters), and temporal information make it a unique resource in the field. The objective of releasing this dataset is to give a broad range of researchers the possibility of working with real-world data from an internationally well-known company and introduce a standard benchmark to the predictive maintenance field, fostering reproducible research.
Analytical Framework for Effective Degrees of Freedom in Near-Field XL-MIMO
Venue: arXiv cs.IT 2025
Year: 2025

Extremely large-scale multiple-input-multiple-output (XL-MIMO) is an emerging transceiver technology for enabling next-generation communication systems, due to its potential for substantial enhancement in both the spectral efficiency and spatial resolution. However, the achievable performance limits of various promising XL-MIMO configurations have yet to be fully evaluated, compared, and discussed. In this paper, we develop an effective degrees of freedom (EDoF) performance analysis framework specifically tailored for near-field XL-MIMO systems. We explore five representative distinct XL-MIMO hardware designs, including uniform planar array (UPA)-based with infinitely thin dipoles, two-dimensional (2D) continuous aperture (CAP) plane-based, UPA-based with patch antennas, uniform linear array (ULA)-based, and one-dimensional (1D) CAP line segment-based XL-MIMO systems. Our analysis encompasses two near-field channel models: the scalar and dyadic Green's function-based channel models. More importantly, when applying the scalar Green's function-based channel, we derive EDoF expressions in the closed-form, characterizing the impacts of the physical size of the transceiver, the transmitting distance, and the carrier frequency. In our numerical results, we evaluate and compare the EDoF performance across all examined XL-MIMO designs, confirming the accuracy of our proposed closed-form expressions. Furthermore, we observe that with an increasing number of antennas, the EDoF performance for both UPA-based and ULA-based systems approaches that of 2D CAP plane and 1D CAP line segment-based systems, respectively. Moreover, we unveil that the EDoF performance for near-field XL-MIMO systems is predominantly determined by the array aperture size rather than the sheer number of antennas.
Beyond principlism: Practical strategies for ethical AI use in research practices
Venue: arXiv cs.CY 2025
Year: 2025

The rapid adoption of generative artificial intelligence (AI) in scientific research, particularly large language models (LLMs), has outpaced the development of ethical guidelines, leading to a "Triple-Too" problem: too many high-level ethical initiatives, too abstract principles lacking contextual and practical relevance, and too much focus on restrictions and risks over benefits and utilities. Existing approaches--principlism (reliance on abstract ethical principles), formalism (rigid application of rules), and technological solutionism (overemphasis on technological fixes)--offer little practical guidance for addressing ethical challenges of AI in scientific research practices. To bridge the gap between abstract principles and day-to-day research practices, a user-centered, realism-inspired approach is proposed here. It outlines five specific goals for ethical AI use: 1) understanding model training and output, including bias mitigation strategies; 2) respecting privacy, confidentiality, and copyright; 3) avoiding plagiarism and policy violations; 4) applying AI beneficially compared to alternatives; and 5) using AI transparently and reproducibly. Each goal is accompanied by actionable strategies and realistic cases of misuse and corrective measures. I argue that ethical AI application requires evaluating its utility against existing alternatives rather than isolated performance metrics. Additionally, I propose documentation guidelines to enhance transparency and reproducibility in AI-assisted research. Moving forward, we need targeted professional development, training programs, and balanced enforcement mechanisms to promote responsible AI use while fostering innovation. By refining these ethical guidelines and adapting them to emerging AI capabilities, we can accelerate scientific progress without compromising research integrity.
SupplyGraph: A Benchmark Dataset for Supply Chain Planning using Graph Neural Networks
Venue: arXiv cs.LG 2025
Year: 2025

Graph Neural Networks (GNNs) have gained traction across different domains such as transportation, bio-informatics, language processing, and computer vision. However, there is a noticeable absence of research on applying GNNs to supply chain networks. Supply chain networks are inherently graph-like in structure, making them prime candidates for applying GNN methodologies. This opens up a world of possibilities for optimizing, predicting, and solving even the most complex supply chain problems. A major setback in this approach lies in the absence of real-world benchmark datasets to facilitate the research and resolution of supply chain problems using GNNs. To address the issue, we present a real-world benchmark dataset for temporal tasks, obtained from one of the leading FMCG companies in Bangladesh, focusing on supply chain planning for production purposes. The dataset includes temporal data as node features to enable sales predictions, production planning, and the identification of factory issues. By utilizing this dataset, researchers can employ GNNs to address numerous supply chain problems, thereby advancing the field of supply chain analytics and planning. Source: https://github.com/CIOL-SUST/SupplyGraph
The Spectre of Surveillance and Censorship in Future Internet Architectures
Venue: arXiv cs.CR 2025
Year: 2025

Recent initiatives known as Future Internet Architectures (FIAs) seek to redesign the Internet to improve performance, scalability, and security. However, some governments perceive Internet access as a threat to their political standing and engage in widespread network surveillance and censorship. In this paper, we provide an in-depth analysis of the design principles of prominent FIAs in terms of their packet structure, addressing and naming schemes, and routing protocols to foster discussion on how these new systems interact with censorship and surveillance apparatuses. Further, we assess the extent to which existing surveillance and censorship mechanisms can successfully target FIA users while discussing privacy enhancing technologies to counter these mechanisms. We conclude by providing guidelines for future research into novel FIA-based privacy-enhancing technologies, and recommendations to guide the evaluation of these technologies.
A New Framework to Predict and Visualize Technology Acceptance: A Case Study of Shared Autonomous Vehicles
Venue: arXiv cs.HC 2025
Year: 2025

Public acceptance is critical to the adoption of Shared Autonomous Vehicles (SAVs) in the transport sector. Traditional acceptance models, primarily reliant on Structural Equation Modeling, may not adequately capture the complex, non-linear relationships among factors influencing technology acceptance and often have limited predictive capabilities. This paper introduces a framework that combines Machine Learning techniques with chord diagram visualizations to analyze and predict public acceptance of technologies. Using SAV acceptance as a case study, we applied a Random Forest machine learning approach to model the non-linear relationships among psychological factors influencing acceptance. Chord diagrams were then employed to provide an intuitive visualization of the relative importance and interplay of these factors at both factor and item levels in a single plot. Our findings identified Attitude as the primary predictor of SAV usage intention, followed by Perceived Risk, Perceived Usefulness, Trust, and Perceived Ease of Use. The framework also reveals divergent perceptions between SAV adopters and non-adopters, providing insights for tailored strategies to enhance SAV acceptance. This study contributes a data-driven perspective to the technology acceptance discourse, demonstrating the efficacy of integrating predictive modeling with visual analytics to understand the relative importance of factors in predicting public acceptance of emerging technologies.
On the Separability Problem of VASS Reachability Languages
Venue: arXiv cs.FL 2025
Year: 2025

We show that the regular separability problem of VASS reachability languages is decidable and $\mathbf{F}_ω$-complete. At the heart of our decision procedure are doubly-marked graph transition sequences, a new proof object that tracks a suitable product of the VASS we wish to separate. We give a decomposition algorithm for DMGTS that not only achieves perfectness as known from MGTS, but also a new property called faithfulness. Faithfulness allows us to construct, from a regular separator for the $\mathbb{Z}$-versions of the VASS, a regular separator for the $\mathbb{N}$-versions. Behind faithfulness is the insight that, for separability, it is sufficient to track the counters of one VASS modulo a large number that is determined by the decomposition.
Channel Coding with Mean and Variance Cost Constraints
Venue: arXiv cs.IT 2025
Year: 2025

We consider channel coding for discrete memoryless channels (DMCs) with a novel cost constraint that constrains both the mean and the variance of the cost of the codewords. We show that the maximum (asymptotically) achievable rate under the new cost formulation is equal to the capacity-cost function; in particular, the strong converse holds. We further characterize the optimal second-order coding rate of these cost-constrained codes; in particular, the optimal second-order coding rate is finite. We then show that the second-order coding performance is strictly improved with feedback using a new variation of timid/bold coding, significantly broadening the applicability of timid/bold coding schemes from unconstrained compound-dispersion channels to all cost-constrained channels. Equivalent results on the minimum average probability of error are also given.
GPU Cluster Scheduling for Network-Sensitive Deep Learning
Venue: arXiv cs.PF 2025
Year: 2025

We propose a novel GPU-cluster scheduler for distributed DL (DDL) workloads that enables proximity based consolidation of GPU resources based on the DDL jobs' sensitivities to the anticipated communication-network delays. Our scheduler consists of three major components: (i) a classical delay scheduling algorithm to facilitate job placement and consolidation; (ii) a network-sensitive job preemption strategy; and (iii) an "auto-tuner" mechanism to optimize delay timers for effective delay scheduling. Additionally, to enable a cost-effective methodology for large-scale experiments, we develop a data-driven DDL cluster simulation platform. Employing the simulation platform we compare against several state-of-the-art alternatives on real-world workload traces to demonstrate the benefits of our design. Our scheduler can provide improvement of up to 69% in end-to-end Makespan for training all jobs compared to the prevailing consolidation-based scheduling methods, while reducing the average job completion time by up to 83% and minimizing the communication overheads by up to 98% under congested networking conditions.
Game of Coding: Beyond Honest-Majority Assumptions
Venue: arXiv cs.IT 2025
Year: 2025

Coding theory revolves around the incorporation of redundancy into transmitted symbols, computation tasks, and stored data to guard against adversarial manipulation. However, error correction in coding theory is contingent upon a strict trust assumption. In the context of computation and storage, it is required that honest nodes outnumber adversarial ones by a certain margin. However, in several emerging real-world cases, particularly, in decentralized blockchain-oriented applications, such assumptions are often unrealistic. Consequently, despite the important role of coding in addressing significant challenges within decentralized systems, its applications become constrained. Still, in decentralized platforms, a distinctive characteristic emerges, offering new avenues for secure coding beyond the constraints of conventional methods. In these scenarios, the adversary benefits when the legitimate decoder recovers the data, and preferably with a high estimation error. This incentive motivates them to act rationally, trying to maximize their gains. In this paper, we propose a game theoretic formulation for coding, called the game of coding, that captures this unique dynamic where each of the adversaries and the data collector (decoder) have respective utility functions to optimize. The utility functions reflect the fact that both the data collector and the adversary are interested in increasing the chance of data being recoverable by the data collector. Moreover, the utility functions express the interest of the data collector to estimate the input with lower estimation error, but the opposite interest of the adversary. As a first, still highly non-trivial step, we characterize the equilibrium of the game for the repetition code with a repetition factor of 2 for a wide class of utility functions with minimal assumptions.